(19)

(11)

EP 2 675 598 A1

(12)

(43) Date of publication: 25.12.2013 Bulletin 2013/52 (21) Application number: 11706163.0 (22) Date of filing: 17.02.2011

(51) International Patent Classification (IPC):  B25J 13/08(2006.01) (86) International application number: PCT/EP2011/000759 (87) International publication number: WO 2012/110055 (23.08.2012 Gazette 2012/34)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR (71) Applicant: ABB AG 68309 Mannheim (DE)	(72) Inventor: VITTOR, Timothy Pennsylvania 18045 (US)